CN112205020A

CN112205020A - Video transmission method, device and computer readable storage medium

Info

Publication number: CN112205020A
Application number: CN201980033763.7A
Authority: CN
Inventors: 陈文月; 尹小俊
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd; SZ DJI Innovations Technology Co Ltd
Priority date: 2019-10-30
Filing date: 2019-10-30
Publication date: 2021-01-08
Also published as: WO2021081815A1

Abstract

A video transmission method, apparatus and computer readable storage medium, the method comprising: determining a control station (2) to be accessed, and establishing a wireless connection (101) with the control station (2) to be accessed; sending a video access authentication request (102) to a control station (2) to be accessed; and when the received video access authentication response fed back by the control station (2) to be accessed is a successful response, sending the collected video information to the control station (2) to be accessed, so that the control station (2) to be accessed sends the video information to the background server (3) (103). By establishing the communication connection among the unmanned aerial vehicle (1), the control station (2) to be accessed and the background server (3), the data collected by the unmanned aerial vehicle operation field can be quickly, simply and conveniently transmitted to the background server. And then the operator can control unmanned aerial vehicle through visiting the data that unmanned aerial vehicle gathered in the backstage server.

Description

Video transmission method, device and computer readable storage medium

Technical Field

Embodiments of the present invention relate to the field of communications, and in particular, to a video transmission method, a device, and a computer-readable storage medium.

Background

In the application process of the unmanned aerial vehicle, the unmanned aerial vehicle generally operates on site, and a site operator controls the unmanned aerial vehicle by operating a ground control terminal in point-to-point communication with the unmanned aerial vehicle.

The distance between the operation site of the unmanned aerial vehicle and the rear command center is far away, the rear command center needs to output video information to preset video acquisition equipment through the HDMI/USB of the ground control terminal in order to realize the viewing of the video information acquired by the image acquisition device arranged on the unmanned aerial vehicle, and then the video acquisition equipment can send the video information to the rear command center through the Ethernet.

However, when the method is used for video transmission, the video transmission is one-way transmission, and the rear command center can only see the video information, but cannot control the unmanned aerial vehicle according to the video information. In addition, the video transmission method often requires a plurality of devices for connection, and the field operation is complex and not beneficial to operation.

Disclosure of Invention

The embodiment of the invention provides a video transmission method, video transmission equipment and a computer-readable storage medium, and aims to solve the technical problems that in the existing video transmission method, videos are transmitted in a single direction, a rear command center can only see video information, but cannot control an unmanned aerial vehicle according to the video information, and field operation is complex.

A first aspect of an embodiment of the present invention provides a video transmission method applied to an unmanned aerial vehicle, including:

determining a control station to be accessed, and establishing wireless connection with the control station to be accessed;

sending a video access authentication request to the control station to be accessed so that the control station to be accessed sends the video access authentication request to a background server, wherein the video access authentication request comprises unmanned aerial vehicle identification information;

when the received video access authentication response fed back by the control station to be accessed is a successful response, sending the acquired video information to the control station to be accessed so that the control station to be accessed sends the video information to the background server, wherein the successful response is sent to the unmanned aerial vehicle by the control station to be accessed when the background server is determined to pass the authentication of the video access authentication request.

A second aspect of the embodiments of the present invention is to provide a video transmission method, which is applied to a control station, and includes:

establishing wireless connection with the unmanned aerial vehicle;

acquiring a video access authentication request sent by the unmanned aerial vehicle, wherein the video access authentication request comprises unmanned aerial vehicle identification information;

when the background server is determined to pass the video access authentication request authentication, sending successful response information to the unmanned aerial vehicle;

and acquiring video information sent by the unmanned aerial vehicle, and forwarding the video information to a background server.

A third aspect of the embodiments of the present invention provides a video transmission method, which is applied to a video transmission system, where the video transmission system includes an unmanned aerial vehicle, a control station, a background server, and a handheld control terminal, and the method includes:

the unmanned aerial vehicle determines a control station to be accessed and establishes wireless connection with the control station to be accessed;

the unmanned aerial vehicle sends a video access authentication request to the control station to be accessed, wherein the video access authentication request comprises unmanned aerial vehicle identification information;

the control station acquires a video access authentication request sent by the unmanned aerial vehicle;

the control station sends successful response information to the unmanned aerial vehicle when determining that the background server passes the video access authentication request authentication;

when the received video access authentication response fed back by the control station to be accessed is a successful response, the unmanned aerial vehicle sends acquired video information to the control station to be accessed;

the control station acquires video information sent by the unmanned aerial vehicle;

and the control station sends the video information to the background server.

A fourth aspect of the embodiments of the present invention provides an unmanned aerial vehicle, including: a memory and a processor;

the memory is used for storing program codes;

the processor, invoking the program code, when executed, is configured to:

A fifth aspect of an embodiment of the present invention provides a control station, including: a memory and a processor;

the memory is used for storing program codes;

the processor, invoking the program code, when executed, is configured to:

establishing wireless connection with the unmanned aerial vehicle;

A sixth aspect of the embodiments of the present invention provides a video transmission system, where the video transmission system includes an unmanned aerial vehicle, a control station, a background server, and a handheld control terminal, and the system is configured to:

and the control station sends the video information to the background server.

A seventh aspect of embodiments of the present invention is to provide a computer-readable storage medium, on which a computer program is stored, the computer program being executed by a processor to implement the method of the first aspect, the second aspect or the third aspect.

The video transmission method, the video transmission device and the computer-readable storage medium provided by the embodiment are different from the point-to-point connection between the unmanned aerial vehicle and the control terminal in the prior art, and the data acquired by the unmanned aerial vehicle operation field can be quickly, simply and conveniently transmitted to the background server by establishing the communication connection between the unmanned aerial vehicle, the control station to be accessed and the background server. And then the operator can control unmanned aerial vehicle through visiting the data that unmanned aerial vehicle gathered in the backstage server.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.

FIG. 1 is a schematic diagram of a system architecture on which the present invention is based;

fig. 2 is a schematic flowchart of a video transmission method according to an embodiment of the present invention;

fig. 3 is a flowchart illustrating a video transmission method according to a second embodiment of the present invention;

FIG. 4 is a diagram of another system architecture provided by an embodiment of the present invention;

fig. 5 is a flowchart illustrating a video transmission method according to a third embodiment of the present invention;

FIG. 6 is a diagram of another system architecture provided by an embodiment of the present invention;

fig. 7 is a flowchart illustrating a video transmission method according to a fourth embodiment of the present invention;

fig. 8 is a flowchart illustrating a video transmission method according to a fifth embodiment of the present invention;

fig. 9 is a flowchart illustrating a video transmission method according to a sixth embodiment of the present invention;

fig. 10 is a flowchart illustrating a video transmission method according to a seventh embodiment of the present invention;

fig. 11 is a schematic structural diagram of an unmanned aerial vehicle according to an eighth embodiment of the present invention;

fig. 12 is a schematic structural diagram of a control station according to a ninth embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.

The invention provides a video transmission method, video transmission equipment and a computer-readable storage medium, aiming at the technical problems that in the existing video transmission method, videos are transmitted in a one-way mode, a rear command center can only see video information, but cannot control an unmanned aerial vehicle according to the video information, and field operation is complex.

It should be noted that the video transmission method, the video transmission device and the computer-readable storage medium provided by the invention can be applied to any scene of communication between a working site of a mobile device and the rear part.

Fig. 1 is a schematic diagram of a system architecture based on the present invention, and as shown in fig. 1, the system architecture based on the present invention at least includes: the system comprises an unmanned aerial vehicle 1, a control station 2 to be accessed and a background server 3. Wherein, the control station 2 to be accessed is respectively in communication connection with the unmanned aerial vehicle 1 and the background server 3.

Fig. 2 is a schematic flowchart of a video transmission method according to an embodiment of the present invention, and as shown in fig. 2, the method includes:

step 101, determining a control station to be accessed, and establishing wireless connection with the control station to be accessed.

The execution main part of this embodiment is unmanned aerial vehicle. In practical application, the number of the control stations can be multiple, and the control stations which can be accessed by the unmanned aerial vehicle are different according to different unmanned aerial vehicle operation sites. Therefore, in order to realize communication interaction with the background server, the unmanned aerial vehicle can firstly determine the control station to be accessed currently, and then can perform information interaction with the control station to be accessed. Optionally, the control station to be accessed may specifically establish a communication connection with the unmanned aerial vehicle through a Radio signal, and in addition, may also establish a communication connection with the unmanned aerial vehicle in other connection manners, which is not limited in the present invention.

It should be noted that the control station may be any one of a fixed base station and a mobile base station.

Step 102, sending a video access authentication request to the control station to be accessed so that the control station to be accessed sends the video access authentication request to a background server, wherein the video access authentication request comprises identification information of the unmanned aerial vehicle.

In this embodiment, after the communication connection is established between the unmanned aerial vehicle and the control station to be accessed, information interaction can be performed between the unmanned aerial vehicle and the control station to be accessed. Therefore, the unmanned aerial vehicle can send a video access authentication request to the control station to be accessed. It should be noted that the control station to be accessed can establish communication connection with the background server, so that the server to be accessed can send the video access authentication request to the background server after receiving the video access authentication request sent by the unmanned aerial vehicle. Because the same job site may have many unmanned aerial vehicles to operate simultaneously, consequently, in order to realize the accurate connection of backend server and specific unmanned aerial vehicle, when sending video access authentication request, can also carry unmanned aerial vehicle identification information in this video access authentication request, wherein, this unmanned aerial vehicle identification information can only sign unmanned aerial vehicle.

103, when the received video access authentication response fed back by the control station to be accessed is a successful response, sending the acquired video information to the control station to be accessed so that the control station to be accessed sends the video information to the background server, wherein the successful response is sent to the unmanned aerial vehicle by the control station to be accessed when the background server determines that the video access authentication request authentication is passed.

In this embodiment, after receiving the video access authentication request, the backend server may authenticate the video access authentication request to determine whether to grant the access of the drone. Correspondingly, if the unmanned aerial vehicle is determined to be approved to access, the information authenticated by the video access authentication request can be sent to the control station to be accessed. After receiving the information authenticated by the video access authentication request, the control station may send a successful response message to the drone. At this time, after receiving the successful response information, the unmanned aerial vehicle can send the currently acquired video information to the control station to be accessed, and the control station to be accessed sends the video information to the background server. It should be noted that the control station to be accessed may send the video information to the background server through the ethernet or the cellular mobile network. Optionally, the unmanned aerial vehicle may also obtain parameter information in a current operation process, and send the parameter information to the control station to be accessed, so that the control station to be accessed forwards the parameter information to the background server.

After the unmanned aerial vehicle sends data such as video information and parameter information to the background server through the controller to be accessed, an operator can access the background server through a browser to check the video information and the parameter information, and then the operator can also want the unmanned aerial vehicle to send control information after checking the information.

The video transmission method provided by the embodiment is different from point-to-point connection between the unmanned aerial vehicle and the control terminal in the prior art, and can quickly and simply transmit data acquired by the unmanned aerial vehicle on the operation site to the background server by establishing communication connection between the unmanned aerial vehicle, the control station to be accessed and the background server. And then the operator can control unmanned aerial vehicle through visiting the data that unmanned aerial vehicle gathered in the backstage server.

Fig. 3 is a schematic flow chart of a video transmission method according to a second embodiment of the present invention, where on the basis of any of the foregoing embodiments, after step 101, the method further includes:

step 201, acquiring a first control instruction sent by the control station to be accessed, wherein the first control instruction is acquired by the control station to be accessed from a background server;

and 202, controlling the unmanned aerial vehicle to operate according to the first control instruction.

In this embodiment, based on the system architecture of the unmanned aerial vehicle, the control station to be accessed, and the background server, on one hand, the unmanned aerial vehicle can send the acquired video line to the background server for the operator to view; on the other hand, the background server can also send a control instruction to the unmanned aerial vehicle to realize the control of the unmanned aerial vehicle. Specifically, the unmanned aerial vehicle may obtain a first control instruction sent by a control station to be accessed, where the first control instruction is sent to the control station to be accessed by the background server. After receiving the first control instruction, the drone may operate according to the first control instruction. The first control instruction can be actively sent to the unmanned aerial vehicle by an operator according to the current requirement, and can also be generated after the operator checks the video data acquired by the unmanned aerial vehicle; the first control instruction may be sent to the unmanned aerial vehicle before the unmanned aerial vehicle flies, or may be sent to the unmanned aerial vehicle during the operation of the unmanned aerial vehicle, which is not limited in this respect.

Optionally, the first control instruction may include route information, so that the unmanned aerial vehicle may navigate according to the route information after receiving the first control instruction; optionally, the first control instruction may further include a control action, where the control action includes, but is not limited to, take-off, return journey, stop, and the like. The unmanned aerial vehicle can execute the control action after receiving the first control instruction; optionally, the background server may further acquire parameter information of the unmanned aerial vehicle in the operation process, generate a data acquisition request, where the data acquisition request includes an identifier of data to be acquired, send the data acquisition request to the control station to be accessed, the control station to be accessed sends the data acquisition request to the unmanned aerial vehicle, after receiving the data acquisition request, the unmanned aerial vehicle acquires data corresponding to the identifier of the data to be acquired, and feeds the data back to the control station to be accessed, and the control station to be accessed sends data corresponding to the identifier of the data to be acquired to the background server.

According to the video transmission method provided by the embodiment, the background server is used for controlling the unmanned aerial vehicle according to the first control instruction sent by the control station to be accessed, so that the unmanned aerial vehicle can be accurately and effectively controlled on the basis of information interaction between the unmanned aerial vehicle and the background server, and the safety of the unmanned aerial vehicle in the operation process is improved.

Fig. 4 is a further system architecture diagram provided by the embodiment of the present invention, and as shown in fig. 4, the system architecture on which the present invention is based may further include a handheld control terminal 4, where the handheld control terminal 4 includes, but is not limited to, a handheld remote controller, an operator terminal, and the like. The hand-held control terminal 4 is connected to the control station 2 to be accessed in a communication manner, so that the hand-held control terminal can be connected to the control station 2 to be accessed in a communication manner.

Based on the system architecture diagram provided in fig. 4, after step 101, the method further includes:

acquiring a second control instruction sent by the control station to be accessed, wherein the second control instruction is acquired by the control station to be accessed from the handheld control terminal;

and controlling the unmanned aerial vehicle to operate according to the second control instruction.

In this embodiment, handheld control terminal also can realize the control to unmanned aerial vehicle. Specifically, handheld control terminal can send the second control instruction to the control station that waits to insert, correspondingly, after the control station that waits to insert received this second control instruction, can send the second control instruction to unmanned aerial vehicle. After receiving a second control instruction sent by the handheld control terminal through the control station to be accessed, the unmanned aerial vehicle can control the unmanned aerial vehicle to fly according to the second control instruction. It should be noted that the content of the second control instruction is similar to that of the first control instruction, and specific details of the above embodiment are not described herein.

Optionally, the operator can control the unmanned aerial vehicle through the handheld control terminal according to the current demand. For example, if the sudden obstacle appears on the current running air line of the unmanned aerial vehicle, the unmanned aerial vehicle cannot perform timely obstacle avoidance operation, and then the operator can send a second control instruction to the unmanned aerial vehicle through the handheld control terminal to control the unmanned aerial vehicle to avoid the obstacle, and improve the safety of the unmanned aerial vehicle running.

According to the video transmission method provided by the embodiment, the unmanned aerial vehicle is controlled according to the second control instruction by acquiring the second control instruction sent by the handheld control terminal through the control station to be accessed, so that the safety of the unmanned aerial vehicle in operation can be further improved on the basis of information interaction between the unmanned aerial vehicle and the background server.

Fig. 5 is a schematic flow chart of a video transmission method according to a third embodiment of the present invention, where on the basis of any of the above embodiments, the method further includes:

step 301, sending first communication verification information of the unmanned aerial vehicle to the handheld control terminal, so that the handheld control terminal sends the first communication verification information to a background server, wherein the background server is configured to send the first communication verification information to the control station to be accessed;

step 302, acquiring second communication verification information of the control station to be accessed and third communication verification information of a candidate control station, which are sent by the handheld control terminal, wherein the second communication verification information is acquired by the handheld terminal from the background server; the first communication verification information and the second communication verification information are used for establishing the wireless connection between the unmanned aerial vehicle and the control station to be accessed.

In this embodiment, since the communication ID of each drone is different from each other in the prior art, the drone must enter the frequency-matching mode simultaneously with the handheld control terminal through a short distance, and then exchange the communication ID and the encryption code to send information to each other. And the control station of treating to insert usually fixes at the high point, has great distance apart from ground, can't often trigger the mode of counterpointing frequently, also can't use closely to come to pair with unmanned aerial vehicle and communicate frequently. Therefore, in order to establish a communication connection between the drone and the control station to be accessed, first, the drone may send first communication verification information of the drone to the handheld control terminal. After receiving the first communication verification information, the handheld control terminal may send the first communication verification information to the background server. And after receiving the first communication verification information, the background server can send the first communication verification information to the control station to be accessed. The unmanned aerial vehicle acquires second communication verification information of a control station to be accessed and third verification information of a candidate control station, which are sent by the handheld control terminal, wherein the second communication verification information is acquired by the handheld terminal from the background server. It should be noted that the first communication verification information and the second communication verification information are specifically used for establishing a wireless connection between the drone and the control station to be accessed.

Fig. 6 is another system architecture diagram provided in an embodiment of the present invention, and as shown in fig. 6, in a system architecture on which the present invention is based, a handheld control terminal 4 can establish communication connections with an unmanned aerial vehicle 1, a control station 2 to be accessed, and a background server 3, respectively.

Specifically, on the basis of any one of the above embodiments, the method further includes:

and sending the position information of the unmanned aerial vehicle to the handheld control terminal so as to enable the handheld control terminal to send the position information to the background server, wherein the background server is configured to determine the control station to be accessed from a plurality of control stations according to the position information.

In this embodiment, the quantity of control station can be a plurality of, because the position of unmanned aerial vehicle job site is different, consequently, the control station that unmanned aerial vehicle can connect also is different, and is connected to different control station communication effect also and differs. Therefore, before making a communication connection with the control station, it is first necessary to determine the control station to be accessed. Specifically, the position information of the unmanned aerial vehicle can be sent to the handheld control terminal, and therefore the handheld control terminal can send the position information to the background server. Accordingly, the background server may determine a control station to be accessed from the plurality of control terminals according to the location information. The control station to be accessed may be the one closest to the unmanned aerial vehicle or the one with the best communication effect, which is not limited in the present invention.

According to the video transmission method provided by the embodiment, the wireless connection between the unmanned aerial vehicle and the control station to be accessed is established by adopting the first communication verification information and the second communication verification information, so that a foundation is provided for information interaction between the unmanned aerial vehicle and the background server.

Fig. 7 is a schematic flowchart of a video transmission method according to a fourth embodiment of the present invention, and an application and control station, as shown in fig. 7, the method includes:

step 401, establishing wireless connection with an unmanned aerial vehicle;

step 402, acquiring a video access authentication request sent by the unmanned aerial vehicle, wherein the video access authentication request comprises unmanned aerial vehicle identification information;

step 403, when it is determined that the background server passes the authentication of the video access authentication request, sending a successful response message to the unmanned aerial vehicle;

and 404, acquiring video information sent by the unmanned aerial vehicle, and forwarding the video information to a background server.

In this embodiment, in order to implement the communication connection between the drone and the backend server, first, the control station needs to establish a communication connection with the drone. The communication connection can be established with the unmanned aerial vehicle through Radio signals, and in addition, the communication connection can be established with the unmanned aerial vehicle in other connection modes, which is not limited by the invention. After establishing communication connection with the drone, the control station may receive a video access authentication request sent by the drone. Because there may be a plurality of unmanned aerial vehicles simultaneously in same job site, consequently, can also include unmanned aerial vehicle identification information in the video access authentication request, wherein, this unmanned aerial vehicle identification information can only sign unmanned aerial vehicle.

It should be noted that the control station can establish a communication connection with the background server, so that after receiving the video access authentication request sent by the drone, the control station can send the video access authentication request to the background server. When it is determined that the background server passes the authentication of the video access authentication request, the control station may send a successful response message to the drone. After receiving the video access authentication request, the background server may authenticate the video access authentication request to determine whether to grant the access of the drone. Correspondingly, if the unmanned aerial vehicle is determined to be approved to access, the information authenticated by the video access authentication request can be sent to the control station to be accessed. After receiving the information authenticated by the video access authentication request, the control station may send a successful response message to the drone. At this time, after receiving the successful response information, the unmanned aerial vehicle can send the currently acquired video information to the control station to be accessed, and the control station to be accessed sends the video information to the background server.

Further, on the basis of any of the above embodiments, step 404 specifically includes:

acquiring video information sent by the unmanned aerial vehicle, and performing format conversion operation on the video information to obtain format-converted video information;

and forwarding the video information after format conversion to a background server.

In this embodiment, the control station may further obtain video information sent by the unmanned aerial vehicle, perform format conversion on the video information, and send the video information after format conversion to the background server. Therefore, an operator can directly access the background server to check the video information without performing video format conversion again, and the user experience is improved.

Further, on the basis of any of the above embodiments, the control station is any one of a fixed base station and a mobile base station.

Accordingly, on the basis of any of the above embodiments, when the control station is a fixed base station, before step 404, the method further includes:

and establishing communication connection with the background server through Ethernet.

In this embodiment, when the control station is a fixed base station, the control station may establish a communication connection with the background server through the ethernet, so as to implement information interaction.

Accordingly, on the basis of any of the above embodiments, before step 404, when the control station is a mobile base station, the method further includes:

and establishing communication connection with the background server through a cellular mobile network.

In this embodiment, when the control station is a fixed base station, the control station may establish a communication connection with the background server through the cellular mobile network, so as to implement information interaction.

Fig. 8 is a schematic flow chart of a video transmission method according to a fifth embodiment of the present invention, where on the basis of any of the foregoing embodiments, after step 401, the method further includes:

step 501, acquiring a first control instruction sent by the background server, wherein the first control instruction is sent by an operator accessing the background server through a terminal device;

step 502, sending the first control instruction to the unmanned aerial vehicle, so that the unmanned aerial vehicle executes the first control instruction.

In this embodiment, based on a system architecture of the unmanned aerial vehicle, the control station and the background server, on one hand, the unmanned aerial vehicle can send the acquired video line to the background server for the operator to view; on the other hand, the background server can also send a control instruction to the unmanned aerial vehicle to realize the control of the unmanned aerial vehicle. Specifically, the control station may obtain a first control instruction sent by the background server, where the first control instruction may be sent by an operator accessing the background server through a terminal device. The control station can send first control instruction to unmanned aerial vehicle can be according to this first control instruction operation after receiving this first control instruction. The first control instruction can be actively sent to the unmanned aerial vehicle by an operator according to the current requirement, and can also be generated after the operator checks the video data acquired by the unmanned aerial vehicle; the first control instruction may be sent to the unmanned aerial vehicle before the unmanned aerial vehicle flies, or may be sent to the unmanned aerial vehicle during the operation of the unmanned aerial vehicle, which is not limited in this respect.

Optionally, the first control instruction may include route information, so that the unmanned aerial vehicle may navigate according to the route information after receiving the first control instruction; optionally, the first control instruction may further include a control action, where the control action includes, but is not limited to, take-off, return journey, stop, and the like. The unmanned aerial vehicle can execute the control action after receiving the first control instruction; optionally, the background server may further acquire parameter information of the unmanned aerial vehicle in the operation process, generate a data acquisition request, where the data acquisition request includes an identifier of data to be acquired, send the data acquisition request to the control station, the control station sends the data acquisition request to the unmanned aerial vehicle, the unmanned aerial vehicle acquires data corresponding to the identifier of the data to be acquired after receiving the data acquisition request, and feeds the data back to the control station, and the control station sends data corresponding to the identifier of the data to be acquired to the background server.

According to the video transmission method provided by the embodiment, the first control instruction sent by the background server is obtained, the first control instruction is sent to the unmanned aerial vehicle, and the unmanned aerial vehicle is controlled according to the first control instruction, so that the unmanned aerial vehicle can be accurately and effectively controlled on the basis of information interaction between the unmanned aerial vehicle and the background server, and the safety of the unmanned aerial vehicle in the operation process is improved.

Further, on the basis of any of the above embodiments, after step 401, the method further includes:

acquiring a second control instruction sent by the handheld control terminal;

and sending the second control instruction to the unmanned aerial vehicle so that the unmanned aerial vehicle executes the second control instruction.

In this embodiment, handheld control terminal also can realize the control to unmanned aerial vehicle. Specifically, the control station can obtain the second control instruction that handheld control terminal sent, sends the second control instruction to unmanned aerial vehicle. After receiving a second control instruction sent by the handheld control terminal through the control station to be accessed, the unmanned aerial vehicle can control the unmanned aerial vehicle to fly according to the second control instruction. It should be noted that the content of the second control instruction is similar to that of the first control instruction, and specific details of the above embodiment are not described herein.

According to the video transmission method provided by the embodiment, the second control instruction sent by the handheld control terminal is obtained and sent to the unmanned aerial vehicle, and the unmanned aerial vehicle is controlled according to the second control instruction, so that the safety of the unmanned aerial vehicle in operation can be further improved on the basis of information interaction between the unmanned aerial vehicle and the background server.

Fig. 9 is a schematic flow chart of a video transmission method according to a sixth embodiment of the present invention, where on the basis of any of the foregoing embodiments, the method further includes:

601, receiving first communication verification information of the unmanned aerial vehicle, which is sent by a background server, wherein the background server is configured to obtain the first communication verification information from the handheld control terminal and send the first communication verification information to a control station to be accessed;

step 602, sending second communication verification information of the control station to the background server, so that the background server sends the second communication verification information to the handheld control terminal, wherein the handheld control terminal sends the second communication verification information to the unmanned aerial vehicle; wherein the first communication authentication information and the second communication authentication information are used to establish the wireless connection between the drone and the control station.

In this embodiment, since the communication ID of each drone is different from each other in the prior art, the drone must enter the frequency-matching mode simultaneously with the handheld control terminal through a short distance, and then exchange the communication ID and the encryption code to send information to each other. And the control station is usually fixed at the high point, has great distance apart from ground, can't often trigger the mode of frequently, also can't use closely to come to pair with unmanned aerial vehicle and communicate frequently. Therefore, in order to establish communication connection between the unmanned aerial vehicle and the control station to be accessed, first communication verification information of the unmanned aerial vehicle sent by the background server can be received, wherein the first communication verification information is sent to the background server and fed back by the background server after the unmanned aerial vehicle sends the first communication verification information of the unmanned aerial vehicle to the handheld control terminal. And sending the second communication verification information of the control station to the background server, so that the background server can send the second communication verification information to the handheld control terminal. After receiving the second communication verification information, the handheld control terminal can send the second communication verification information to the unmanned aerial vehicle, so that the unmanned aerial vehicle and the control station can establish communication connection by adopting the first communication verification information and the second communication verification information.

According to the video transmission method provided by the embodiment, the wireless connection between the unmanned aerial vehicle and the control station is established by adopting the first communication verification information and the second communication verification information, so that a foundation is provided for information interaction between the unmanned aerial vehicle and the background server.

Further, on the basis of any of the above embodiments, the method further includes:

if a first control instruction sent by the background server and a second control instruction sent by the handheld control terminal are received at the same time, the second control instruction is sent to the unmanned aerial vehicle according to a preset priority, so that the unmanned aerial vehicle executes the second control instruction.

In this embodiment, handheld control terminal and backend server all can realize the control to unmanned aerial vehicle. It can be understood that, when the unmanned aerial vehicle receives only the first control instruction sent by the background server or the second control instruction sent by the handheld control terminal, the unmanned aerial vehicle may operate only according to the first control instruction sent by the background server or the second control instruction sent by the handheld control terminal. However, when the unmanned aerial vehicle receives the first control instruction sent by the background server and the second control instruction sent by the handheld control terminal at the same time, it is necessary to determine to execute the first control instruction or the second control instruction.

Specifically, if the unmanned aerial vehicle receives a first control instruction sent by the background server and a second control instruction sent by the handheld control terminal at the same time, the second control instruction can be sent to the unmanned aerial vehicle according to the preset priority, and the unmanned aerial vehicle is controlled to execute the second control instruction. In practical application, first control command can be sent for the operator according to actual demand, also can be sent for the operator according to the video information that unmanned aerial vehicle gathered, and it does not have the real-time. And the second control instruction is sent by the operator according to the actual situation of the operation site, so that a higher priority can be set for the second control instruction in order to guarantee the operation safety of the unmanned aerial vehicle.

According to the video transmission method provided by the embodiment, when the first control instruction sent by the background server and the second control instruction sent by the handheld control terminal are received at the same time, the control instruction to be executed is determined according to the preset priority, so that the safety of the unmanned aerial vehicle operation can be improved on the basis of realizing information interaction between the unmanned aerial vehicle and the background server.

Fig. 10 is a schematic flowchart of a video transmission method provided by a seventh embodiment of the present invention, and is applied to a video transmission system, where the video transmission system specifically includes an unmanned aerial vehicle, a control station, a background server, and a handheld control terminal, and the method includes:

step 701, the unmanned aerial vehicle determines a control station to be accessed and establishes wireless connection with the control station to be accessed;

step 702, the unmanned aerial vehicle sends a video access authentication request to the control station to be accessed, wherein the video access authentication request comprises unmanned aerial vehicle identification information;

step 703, the control station obtains a video access authentication request sent by the unmanned aerial vehicle;

step 704, when the control station determines that the background server passes the authentication of the video access authentication request, sending a successful response message to the unmanned aerial vehicle;

step 705, when the received video access authentication response fed back by the control station to be accessed is a successful response, the unmanned aerial vehicle sends acquired video information to the control station to be accessed;

step 706, the control station acquires video information sent by the unmanned aerial vehicle;

and step 707, the control station sends the video information to the background server.

In this embodiment, in order to implement the communication connection between the drone and the backend server, first, the control station needs to establish a communication connection with the drone. It can be passed through Radi_oThe signal establishes communication connection with the unmanned aerial vehicle, and in addition, communication connection with the unmanned aerial vehicle can also be established by adopting other connection modes, which is not limited by the invention. After establishing communication connection with the drone, the control station may receive a video access authentication request sent by the drone. Because there may be a plurality of unmanned aerial vehicles simultaneously in same job site, consequently, can also include unmanned aerial vehicle identification information in the video access authentication request, wherein, this unmanned aerial vehicle identification information can only sign unmanned aerial vehicle.

Fig. 11 is a schematic structural diagram of an unmanned aerial vehicle according to an eighth embodiment of the present invention, and as shown in fig. 11, the unmanned aerial vehicle includes: a memory 81 and a processor 82;

the memory 81 is used for storing program codes;

the processor 82, invoking the program code, is configured to perform the following when the program code is executed:

Further, on the basis of any of the above embodiments, after establishing a connection with the control station to be accessed, the processor is further configured to:

acquiring a first control instruction sent by the control station to be accessed, wherein the first control instruction is acquired by the control station to be accessed from a background server;

and controlling the unmanned aerial vehicle to operate according to the first control instruction.

Further, on the basis of any of the above embodiments, the control station is communicatively connected to a handheld control terminal, and the processor is further configured to, after establishing a connection with the control station to be accessed:

Further, on the basis of any of the above embodiments, the processor is further configured to:

sending first communication verification information of the unmanned aerial vehicle to the handheld control terminal so that the handheld control terminal sends the first communication verification information to a background server, wherein the background server is configured to send the first communication verification information to the control station to be accessed;

acquiring second communication verification information of the control station to be accessed and third communication verification information of a candidate control station, which are sent by the handheld control terminal, wherein the second communication verification information is acquired by the handheld terminal from the background server;

the first communication verification information and the second communication verification information are used for establishing the wireless connection between the unmanned aerial vehicle and the control station to be accessed.

Fig. 12 is a schematic structural diagram of a control station according to a ninth embodiment of the present invention, and as shown in fig. 12, the control station includes: a memory 91 and a processor 92;

the memory 91 is used for storing program codes;

the processor 92, which invokes the program code, when executed, is configured to:

establishing wireless connection with the unmanned aerial vehicle;

Further, on the basis of any of the above embodiments, the control station is a fixed base station, and the processor is further configured to, before forwarding the video information to the background server:

Further, on the basis of any of the above embodiments, the control station is a mobile base station, and the processor is further configured to, before forwarding the video information to the background server:

Further, on the basis of any of the above embodiments, after establishing the connection with the drone, the processor is further configured to:

acquiring a first control instruction sent by the background server, wherein the first control instruction is sent by an operator accessing the background server through a terminal device;

and sending the first control instruction to the unmanned aerial vehicle so that the unmanned aerial vehicle executes the first control instruction.

acquiring a second control instruction sent by the handheld control terminal;

receiving first communication verification information of the unmanned aerial vehicle, which is sent by a background server, wherein the background server is configured to obtain the first communication verification information from the handheld control terminal and send the first communication verification information to a control station to be accessed;

sending second communication verification information of the control station to the background server so that the background server sends the second communication verification information to the handheld control terminal, wherein the handheld control terminal sends the second communication verification information to the unmanned aerial vehicle;

wherein the first communication authentication information and the second communication authentication information are used to establish the wireless connection between the drone and the control station.

Further, on the basis of any of the above embodiments, when the processor acquires video information sent by the drone and forwards the video information to the background server, the processor is configured to:

Another embodiment of the present invention further provides a video transmission system, where the video transmission system includes an unmanned aerial vehicle, a control station, a background server, and a handheld control terminal, and the system is configured to:

and the control station sends the video information to the background server.

Yet another embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, the computer program being executed by a processor to implement the method of any of the above embodiments.

In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.

The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute some steps of the methods according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.

It is obvious to those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional modules is merely used as an example, and in practical applications, the above function distribution may be performed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to perform all or part of the above described functions. For the specific working process of the device described above, reference may be made to the corresponding process in the foregoing method embodiment, which is not described herein again.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A video transmission method is applied to an unmanned aerial vehicle and is characterized by comprising the following steps:

2. The method of claim 1, wherein after the connection is established with the control station to be accessed, the method further comprises:

3. The method of claim 1, wherein the control station is connected to a handheld control terminal in a communication manner, and after the connection is established with the control station to be accessed, the method further comprises:

4. The method of claim 3, further comprising:

acquiring second communication verification information of the control station to be accessed, which is sent by the handheld control terminal, wherein the second communication verification information is acquired by the handheld terminal from the background server;

5. The method of claim 4, further comprising:

6. A video transmission method applied to a control station is characterized by comprising the following steps:

establishing wireless connection with the unmanned aerial vehicle;

7. The method of claim 6, wherein the control station is any one of a fixed base station and a mobile base station.

8. The method of claim 7, wherein the control station is a fixed base station, and before forwarding the video information to a background server, the method further comprises:

9. The method of claim 7, wherein the control station is a mobile base station, and before forwarding the video information to a background server, the method further comprises:

10. The method of any of claims 6-9, wherein after establishing the connection with the drone, further comprising:

11. The method of claim 6, wherein after establishing the connection with the drone, further comprising:

acquiring a second control instruction sent by the handheld control terminal;

12. The method of claim 11, further comprising:

13. The method of claim 11, further comprising:

14. The method according to any one of claims 6-9 and 11-13, wherein the obtaining video information sent by the drone and forwarding the video information to a backend server comprises:

15. A video transmission method is applied to a video transmission system, and is characterized in that the video transmission system comprises an unmanned aerial vehicle, a control station, a background server and a handheld control terminal, and the method comprises the following steps:

and the control station sends the video information to the background server.

16. An unmanned aerial vehicle, comprising: a memory and a processor;

the memory is used for storing program codes;

the processor, invoking the program code, when executed, is configured to:

17. The drone of claim 16, wherein the processor, after establishing the connection with the control station to be accessed, is further to:

18. The drone of claim 16, wherein the control station is communicatively connected to a handheld control terminal, and wherein the processor, after establishing the connection with the control station to be accessed, is further configured to:

19. The drone of claim 18, wherein the processor is further to:

20. The drone of claim 19, wherein the processor is further to:

21. A control station, comprising: a memory and a processor;

the memory is used for storing program codes;

the processor, invoking the program code, when executed, is configured to:

establishing wireless connection with the unmanned aerial vehicle;

22. The control station of claim 21, wherein the control station is any one of a fixed base station and a mobile base station.

23. The control station of claim 22, wherein the control station is a fixed base station, and wherein the processor, before forwarding the video information to a background server, is further configured to:

24. The control station of claim 22, wherein the control station is a mobile base station, and wherein the processor is further configured to, before forwarding the video information to a background server:

25. The control station of any of claims 21-24, wherein the processor, after establishing the connection with the drone, is further configured to:

26. The control station of claim 21, wherein the processor, after establishing the connection with the drone, is further configured to:

acquiring a second control instruction sent by the handheld control terminal;

27. The control station of claim 26, wherein the processor is further configured to:

28. The control station of claim 26, wherein the processor is further configured to:

29. The control station of any of claims 21-24 and 26-28, wherein the processor, when obtaining video information sent by the drone and forwarding the video information to the background server, is configured to:

30. The utility model provides a video transmission system, its characterized in that, video transmission system includes unmanned aerial vehicle, control station, backend server and handheld control terminal, the system is used for:

and the control station sends the video information to the background server.

31. A computer-readable storage medium, having stored thereon a computer program for execution by a processor to perform the method of any one of claims 1-5, 6-14, 15.